相关论文: Transformers in Unsupervised Structure-from-Motion

Obstacle detection and tracking represent a critical component in robot autonomous navigation. In this paper, we propose ODTFormer, a Transformer-based model to address both obstacle detection and tracking problems. For the detection task,…

In this work, we aim to improve the 3D reasoning ability of Transformers in multi-view 3D human pose estimation. Recent works have focused on end-to-end learning-based transformer designs, which struggle to resolve geometric information…

For the task of simultaneous monocular depth and visual odometry estimation, we propose learning self-supervised transformer-based models in two steps. Our first step consists in a generic pretraining to learn 3D geometry, using cross-view…

With the recent successful adaptation of transformers to the vision domain, particularly when trained in a self-supervised fashion, it has been shown that vision transformers can learn impressive object-reasoning-like behaviour and features…

This paper proposes novel methods to enhance the performance of monocular 3D object detection models by leveraging the generalized feature extraction capabilities of a vision foundation model. Unlike traditional CNN-based approaches, which…

Transformers have become the dominant architecture for sequence modeling tasks such as natural language processing or audio processing, and they are now even considered for tasks that are not naturally sequential such as image…

Transformers have had a significant impact on natural language processing and have recently demonstrated their potential in computer vision. They have shown promising results over convolution neural networks in fundamental computer vision…

With an unprecedented increase in the number of agents and systems that aim to navigate the real world using visual cues and the rising impetus for 3D Vision Models, the importance of depth estimation is hard to understate. While supervised…

The introduction of Transformers architecture has brought about significant breakthroughs in Deep Learning (DL), particularly within Natural Language Processing (NLP). Since their inception, Transformers have outperformed many traditional…

We introduce dense vision transformers, an architecture that leverages vision transformers in place of convolutional networks as a backbone for dense prediction tasks. We assemble tokens from various stages of the vision transformer into…

Although transformers have become the neural architectures of choice for natural language processing, they require orders of magnitude more training data, GPU memory, and computations in order to compete with convolutional neural networks…

Vision transformers have gained popularity recently, leading to the development of new vision backbones with improved features and consistent performance gains. However, these advancements are not solely attributable to novel feature…

Vision transformer based models bring significant improvements for image segmentation tasks. Although these architectures offer powerful capabilities irrespective of specific segmentation tasks, their use of computational resources can be…

Vision Transformers (ViT)s have recently become popular due to their outstanding modeling capabilities, in particular for capturing long-range information, and scalability to dataset and model sizes which has led to state-of-the-art…

Two-view structure-from-motion (SfM) is the cornerstone of 3D reconstruction and visual SLAM. Existing deep learning-based approaches formulate the problem by either recovering absolute pose scales from two consecutive frames or predicting…

Features play a crucial role in computer vision. Initially designed to detect salient elements by means of handcrafted algorithms, features are now often learned by different layers in Convolutional Neural Networks (CNNs). This paper…

We present XFormer, a novel human mesh and motion capture method that achieves real-time performance on consumer CPUs given only monocular images as input. The proposed network architecture contains two branches: a keypoint branch that…

Self-supervised methods have showed promising results on depth estimation task. However, previous methods estimate the target depth map and camera ego-motion simultaneously, underusing multi-frame correlation information and ignoring the…

Currently, this paper is under review in IEEE. Transformers have intrigued the vision research community with their state-of-the-art performance in natural language processing. With their superior performance, transformers have found their…

Video understanding requires reasoning at multiple spatiotemporal resolutions -- from short fine-grained motions to events taking place over longer durations. Although transformer architectures have recently advanced the state-of-the-art,…